OpenRaiser/Intern-Atlas huggingface dataset:
On the Robustness of Object Detection Models on Aerial Images
Venue: arXiv cs.CV 2025
Year: 2025

The robustness of object detection models is a major concern when applied to real-world scenarios. The performance of most models tends to degrade when confronted with images affected by corruptions, since they are usually trained and evaluated on clean datasets. While numerous studies have explored the robustness of object detection models on natural images, there is a paucity of research focused on models applied to aerial images, which feature complex backgrounds, substantial variations in scales, and orientations of objects. This paper addresses the challenge of assessing the robustness of object detection models on aerial images, with a specific emphasis on scenarios where images are affected by clouds. In this study, we introduce two novel benchmarks based on DOTA-v1.0. The first benchmark encompasses 19 prevalent corruptions, while the second focuses on the cloud-corrupted condition-a phenomenon uncommon in natural images yet frequent in aerial photography. We systematically evaluate the robustness of mainstream object detection models and perform necessary ablation experiments. Through our investigations, we find that rotation-invariant modeling and enhanced backbone architectures can improve the robustness of models. Furthermore, increasing the capacity of Transformer-based backbones can strengthen their robustness. The benchmarks we propose and our comprehensive experimental analyses can facilitate research on robust object detection on aerial images. The codes and datasets are available at: https://github.com/hehaodong530/DOTA-C.
SignDiff: Diffusion Model for American Sign Language Production
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we propose a dual-condition diffusion pre-training model named SignDiff that can generate human sign language speakers from a skeleton pose. SignDiff has a novel Frame Reinforcement Network called FR-Net, similar to dense human pose estimation work, which enhances the correspondence between text lexical symbols and sign language dense pose frames, reduces the occurrence of multiple fingers in the diffusion model. In addition, we propose a new method for American Sign Language Production (ASLP), which can generate ASL skeletal pose videos from text input, integrating two new improved modules and a new loss function to improve the accuracy and quality of sign language skeletal posture and enhance the ability of the model to train on large-scale data. We propose the first baseline for ASL production and report the scores of 17.19 and 12.85 on BLEU-4 on the How2Sign dev/test sets. We evaluated our model on the previous mainstream dataset PHOENIX14T, and the experiments achieved the SOTA results. In addition, our image quality far exceeds all previous results by 10 percentage points in terms of SSIM.
Foundational Policy Acquisition via Multitask Learning for Motor Skill Generation
Venue: arXiv cs.RO 2025
Year: 2025

In this study, we propose a multitask reinforcement learning algorithm for foundational policy acquisition to generate novel motor skills. \textcolor{\hcolor}{Learning the rich representation of the multitask policy is a challenge in dynamic movement generation tasks because the policy needs to cope with changes in goals or environments with different reward functions or physical parameters. Inspired by human sensorimotor adaptation mechanisms, we developed the learning pipeline to construct the encoder-decoder networks and network selection to facilitate foundational policy acquisition under multiple situations. First, we compared the proposed method with previous multitask reinforcement learning methods in the standard multi-locomotion tasks. The results showed that the proposed approach outperformed the baseline methods. Then, we applied the proposed method to the ball heading task using a monopod robot model to evaluate skill generation performance. The results showed that the proposed method was able to adapt to novel target positions or inexperienced ball restitution coefficients but to acquire a foundational policy network, originally learned for heading motion, which can generate an entirely new overhead kicking skill.
Sparse Decentralized Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Decentralized Federated Learning (DFL) enables collaborative model training without a central server but faces challenges in efficiency, stability, and trustworthiness due to communication and computational limitations among distributed nodes. To address these critical issues, we introduce a sparsity constraint on the shared model, leading to Sparse DFL (SDFL), and propose a novel algorithm, CEPS. The sparsity constraint facilitates the use of one-bit compressive sensing to transmit one-bit information between partially selected neighbour nodes at specific steps, thereby significantly improving communication efficiency. Moreover, we integrate differential privacy into the algorithm to ensure privacy preservation and bolster the trustworthiness of the learning process. Furthermore, CEPS is underpinned by theoretical guarantees regarding both convergence and privacy. Numerical experiments validate the effectiveness of the proposed algorithm in improving communication and computation efficiency while maintaining a high level of trustworthiness.
A FAIR File Format for Mathematical Software
Venue: arXiv cs.MS 2025
Year: 2025

We describe a generic JSON based file format which is suitable for computations in computer algebra. This is implemented in the computer algebra system OSCAR, but we also indicate how it can be used in a different context.
Diffusion Models with Deterministic Normalizing Flow Priors
Venue: arXiv cs.CV 2025
Year: 2025

For faster sampling and higher sample quality, we propose DiNof ($\textbf{Di}$ffusion with $\textbf{No}$rmalizing $\textbf{f}$low priors), a technique that makes use of normalizing flows and diffusion models. We use normalizing flows to parameterize the noisy data at any arbitrary step of the diffusion process and utilize it as the prior in the reverse diffusion process. More specifically, the forward noising process turns a data distribution into partially noisy data, which are subsequently transformed into a Gaussian distribution by a nonlinear process. The backward denoising procedure begins with a prior created by sampling from the Gaussian distribution and applying the invertible normalizing flow transformations deterministically. To generate the data distribution, the prior then undergoes the remaining diffusion stochastic denoising procedure. Through the reduction of the number of total diffusion steps, we are able to speed up both the forward and backward processes. More importantly, we improve the expressive power of diffusion models by employing both deterministic and stochastic mappings. Experiments on standard image generation datasets demonstrate the advantage of the proposed method over existing approaches. On the unconditional CIFAR10 dataset, for example, we achieve an FID of 2.01 and an Inception score of 9.96. Our method also demonstrates competitive performance on CelebA-HQ-256 dataset as it obtains an FID score of 7.11. Code is available at https://github.com/MohsenZand/DiNof.
Generative Social Choice
Venue: arXiv cs.GT 2025
Year: 2025

The mathematical study of voting, social choice theory, has traditionally only been applicable to choices among a few predetermined alternatives, but not to open-ended decisions such as collectively selecting a textual statement. We introduce generative social choice, a design methodology for open-ended democratic processes that combines the rigor of social choice theory with the capability of large language models to generate text and extrapolate preferences. Our framework divides the design of AI-augmented democratic processes into two components: first, proving that the process satisfies representation guarantees when given access to oracle queries; second, empirically validating that these queries can be approximately implemented using a large language model. We apply this framework to the problem of summarizing free-form opinions into a proportionally representative slate of opinion statements; specifically, we develop a democratic process with representation guarantees and use this process to portray the opinions of participants in a survey about abortion policy. In a trial with 100 representative US residents, we find that 84 out of 100 participants feel "excellently" or "exceptionally" represented by the slate of five statements we extracted.
Implicit Regularization Makes Overparameterized Asymmetric Matrix Sensing Robust to Perturbations
Venue: arXiv cs.LG 2025
Year: 2025

Several key questions remain unanswered regarding overparameterized learning models. It is unclear how (stochastic) gradient descent finds solutions that generalize well, and in particular the role of small random initializations. Matrix sensing, which is the problem of reconstructing a low-rank matrix from a few linear measurements, has become a standard prototypical setting to study these phenomena. Previous works have shown that matrix sensing can be solved by factorized gradient descent, provided the random initialization is extremely small. In this paper, we find that factorized gradient descent is highly robust to certain perturbations. This lets us use a perturbation term to capture both the effects of imperfect measurements, discretization by gradient descent, and other noise, resulting in a general formulation which we call \textit{perturbed gradient flow}. We find that not only is this equivalent formulation easier to work with, but it leads to sharper sample and time complexities than previous work, handles moderately small initializations, and the results are naturally robust to perturbations such as noisy measurements or changing measurement matrices. Finally, we also analyze mini-batch stochastic gradient descent using the formulation, where we find improved sample complexity.
The Impact of Artificial Intelligence on the Evolution of Digital Education: A Comparative Study of OpenAI Text Generation Tools including ChatGPT, Bing Chat, Bard, and Ernie
Venue: arXiv cs.CY 2025
Year: 2025

In the digital era, the integration of artificial intelligence (AI) in education has ushered in transformative changes, redefining teaching methodologies, curriculum planning, and student engagement. This review paper delves deep into the rapidly evolving landscape of digital education by contrasting the capabilities and impact of OpenAI's pioneering text generation tools like Bing Chat, Bard, Ernie with a keen focus on the novel ChatGPT. Grounded in a typology that views education through the lenses of system, process, and result, the paper navigates the multifaceted applications of AI. From decentralizing global education and personalizing curriculums to digitally documenting competence-based outcomes, AI stands at the forefront of educational modernization. Highlighting ChatGPT's meteoric rise to one million users in just five days, the study underscores its role in democratizing education, fostering autodidacticism, and magnifying student engagement. However, with such transformative power comes the potential for misuse, as text-generation tools can inadvertently challenge academic integrity. By juxtaposing the promise and pitfalls of AI in education, this paper advocates for a harmonized synergy between AI tools and the educational community, emphasizing the urgent need for ethical guidelines, pedagogical adaptations, and strategic collaborations.
Augmenting Chest X-ray Datasets with Non-Expert Annotations
Venue: arXiv cs.CV 2025
Year: 2025

The advancement of machine learning algorithms in medical image analysis requires the expansion of training datasets. A popular and cost-effective approach is automated annotation extraction from free-text medical reports, primarily due to the high costs associated with expert clinicians annotating medical images, such as chest X-rays. However, it has been shown that the resulting datasets are susceptible to biases and shortcuts. Another strategy to increase the size of a dataset is crowdsourcing, a widely adopted practice in general computer vision with some success in medical image analysis. In a similar vein to crowdsourcing, we enhance two publicly available chest X-ray datasets by incorporating non-expert annotations. However, instead of using diagnostic labels, we annotate shortcuts in the form of tubes. We collect 3.5k chest drain annotations for NIH-CXR14, and 1k annotations for four different tube types in PadChest, and create the Non-Expert Annotations of Tubes in X-rays (NEATX) dataset. We train a chest drain detector with the non-expert annotations that generalizes well to expert labels. Moreover, we compare our annotations to those provided by experts and show "moderate" to "almost perfect" agreement. Finally, we present a pathology agreement study to raise awareness about the quality of ground truth annotations. We make our dataset available on Zenodo at https://zenodo.org/records/14944064 and our code available at https://github.com/purrlab/chestxr-label-reliability.
Stacked Intelligent Metasurfaces for Multiuser Downlink Beamforming in the Wave Domain
Venue: arXiv cs.IT 2025
Year: 2025

Intelligent metasurface has recently emerged as a promising technology that enables the customization of wireless environments by harnessing large numbers of low-cost reconfigurable scattering elements. However, prior studies have predominantly focused on single-layer metasurfaces, which have limitations in terms of wave-domain processing capabilities due to practical hardware limitations. In contrast, this paper introduces a novel stacked intelligent metasurface (SIM) design. Specifically, we investigate the integration of SIM into the downlink of a multiuser multiple-input single-output (MISO) communication system, where an SIM, consisting of a multilayer metasurface structure, is deployed at the base station (BS) to facilitate transmit beamforming in the electromagnetic wave domain. This eliminates the need for conventional digital beamforming and high-resolution digital-to-analog converters at the BS. To this end, an optimization problem is formulated to maximize the sum rate of all user equipments by jointly optimizing the transmit power allocation at the BS and the wave-based beamforming at the SIM, subject to constraints on the transmit power budget and discrete phase shifts. Furthermore, we propose a computationally efficient algorithm for solving the formulated joint optimization problem and elaborate on the potential benefits of employing SIM in wireless networks. Numerical results are illustrated to corroborate the effectiveness of the proposed SIM-enabled wave-based beamforming design and to evaluate the performance improvement achieved by the proposed algorithm compared to various benchmark schemes. It is demonstrated that considering the same number of transmit antennas, the proposed SIM-based system achieves about 200\% improvement in terms of sum rate compared to conventional MISO systems. The code for this paper is available at \url{https://github.com/JianchengAn}.
PRISM: Mitigating EHR Data Sparsity via Learning from Missing Feature Calibrated Prototype Patient Representations
Venue: arXiv cs.LG 2025
Year: 2025

Electronic Health Records (EHRs) contain a wealth of patient data; however, the sparsity of EHRs data often presents significant challenges for predictive modeling. Conventional imputation methods inadequately distinguish between real and imputed data, leading to potential inaccuracies of patient representations. To address these issues, we introduce PRISM, a framework that indirectly imputes data by leveraging prototype representations of similar patients, thus ensuring compact representations that preserve patient information. PRISM also includes a feature confidence learner module, which evaluates the reliability of each feature considering missing statuses. Additionally, PRISM introduces a new patient similarity metric that accounts for feature confidence, avoiding over-reliance on imprecise imputed values. Our extensive experiments on the MIMIC-III, MIMIC-IV, PhysioNet Challenge 2012, eICU datasets demonstrate PRISM's superior performance in predicting in-hospital mortality and 30-day readmission tasks, showcasing its effectiveness in handling EHR data sparsity. For the sake of reproducibility and further research, we have publicly released the code at https://github.com/yhzhu99/PRISM.
Motif-aware Attribute Masking for Molecular Graph Pre-training
Venue: arXiv cs.LG 2025
Year: 2025

Attribute reconstruction is used to predict node or edge features in the pre-training of graph neural networks. Given a large number of molecules, they learn to capture structural knowledge, which is transferable for various downstream property prediction tasks and vital in chemistry, biomedicine, and material science. Previous strategies that randomly select nodes to do attribute masking leverage the information of local neighbors However, the over-reliance of these neighbors inhibits the model's ability to learn from higher-level substructures. For example, the model would learn little from predicting three carbon atoms in a benzene ring based on the other three but could learn more from the inter-connections between the functional groups, or called chemical motifs. In this work, we propose and investigate motif-aware attribute masking strategies to capture inter-motif structures by leveraging the information of atoms in neighboring motifs. Once each graph is decomposed into disjoint motifs, the features for every node within a sample motif are masked. The graph decoder then predicts the masked features of each node within the motif for reconstruction. We evaluate our approach on eight molecular property prediction datasets and demonstrate its advantages.
VDFD: Multi-Agent Value Decomposition Framework with Disentangled World Model
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we propose a novel model-based multi-agent reinforcement learning approach named Value Decomposition Framework with Disentangled World Model to address the challenge of achieving a common goal of multiple agents interacting in the same environment with reduced sample complexity. Due to scalability and non-stationarity problems posed by multi-agent systems, model-free methods rely on a considerable number of samples for training. In contrast, we use a modularized world model, composed of action-conditioned, action-free, and static branches, to unravel the complicated environment dynamics. Our model produces imagined outcomes based on past experience, without sampling directly from the real environment. We employ variational auto-encoders and variational graph auto-encoders to learn the latent representations for the world model, which is merged with a value-based framework to predict the joint action-value function and optimize the overall training objective. Experimental results on StarCraft II micro-management, Multi-Agent MuJoCo, and Level-Based Foraging challenges demonstrate that our method achieves high sample efficiency and exhibits superior performance compared to other baselines across a wide range of multi-agent learning tasks.
DeRi-IGP: Learning to Manipulate Rigid Objects Using Deformable Objects via Iterative Grasp-Pull
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulation of rigid objects via deformable linear objects (DLO) such as ropes is an emerging field of research with applications in various rigid object transportation tasks. A few methods that exist in this field suffer from limited robot action and operational space, poor generalization ability, and expensive model-based development. To address these challenges, we propose a universally applicable moving primitive called Iterative Grasp-Pull (IGP). We also introduce a novel vision-based neural policy that learns to parameterize the IGP primitive to manipulate DLO and transport their attached rigid objects to the desired goal locations. Additionally, our decentralized algorithm design allows collaboration among multiple agents to manipulate rigid objects using DLO. We evaluated the effectiveness of our approach in both simulated and real-world environments for a variety of soft-rigid body manipulation tasks. In the real world, we also demonstrate the effectiveness of our decentralized approach through human-robot collaborative transportation of rigid objects to given goal locations. We also showcase the large operational space of IGP primitive by solving distant object acquisition tasks. Lastly, we compared our approach with several model-based and learning-based baseline methods. The results indicate that our method surpasses other approaches by a significant margin.
Hutchinson's Estimator is Bad at Kronecker-Trace-Estimation
Venue: arXiv cs.DS 2025
Year: 2025

We study the problem of estimating the trace of a matrix $\mathbf{A}$ that can only be accessed through Kronecker-matrix-vector products. That is, for any Kronecker-structured vector $\mathrm{x} = \otimes_{i=1}^k \mathrm{x}_i$, we can compute $\mathbf{A}\mathrm{x}$. We focus on the natural generalization of Hutchinson's Estimator to this setting, proving tight rates for the number of matrix-vector products this estimator needs to find a $(1\pm\varepsilon)$ approximation to the trace of $\mathbf{A}$. We find an exact equation for the variance of the estimator when using a Kronecker of Gaussian vectors, revealing an intimate relationship between Hutchinson's Estimator, the partial trace operator, and the partial transpose operator. Using this equation, we show that when using real vectors, in the worst case, this estimator needs $O(\frac{3^k}{\varepsilon^2})$ products to recover a $(1\pm\varepsilon)$ approximation of the trace of any PSD $\mathbf{A}$, and a matching lower bound for certain PSD $\mathbf{A}$. However, when using complex vectors, this can be exponentially improved to $Θ(\frac{2^k}{\varepsilon^2})$. Further, if the $\mathrm{x}_i$ vectors are low-dimensional and if we instead build $\mathrm{x}$ as the Kronecker product of (scaled) random unit vectors on the complex sphere, then as few as $\frac{1.33^k}{\varepsilon^2}$ samples suffice. We show that Hutchinson's Estimator converges slowest when $\mathbf{A}$ itself also has Kronecker structure. We conclude with some theoretical evidence suggesting that, by combining Hutchinson's Estimator with other techniques, it may be possible to avoid the exponential dependence on $k$.
Let them have CAKES: A Cutting-Edge Algorithm for Scalable, Efficient, and Exact Search on Big Data
Venue: arXiv cs.DS 2025
Year: 2025

The ongoing Big Data explosion has created a demand for efficient and scalable algorithms for similarity search. Most recent work has focused on \textit{approximate} $k$-NN search, and while this may be sufficient for some applications, \textit{exact} $k$-NN search would be ideal for many applications. We present CAKES, a set of three novel, exact algorithms for $k$-NN search. CAKES's algorithms are generic over \textit{any} distance function, and they \textit{do not} scale with the cardinality or embedding dimension of the dataset, but rather with its metric entropy and fractal dimension. We test these claims on datasets from the ANN-Benchmarks suite under commonly-used distance functions, as well as on a genomic dataset with Levenshtein distance and a radio-frequency dataset with Dynamic Time Warping distance. We demonstrate that CAKES exhibits near-constant scaling with cardinality on data conforming to the manifold hypothesis, and has perfect recall on data in \textit{metric} spaces. We also demonstrate that CAKES exhibits significantly higher recall than state-of-the-art $k$-NN search algorithms when the distance function is not a metric. Additionally, we show that indexing and tuning time for CAKES is an order of magnitude, or more, faster than state-of-the-art approaches. We conclude that CAKES is a highly efficient and scalable algorithm for exact $k$-NN search on Big Data. We provide a Rust implementation of CAKES under an MIT license at https://github.com/URI-ABD/clam